# Centralised Intelligence for Dynamic Swarm Navigation

> Multi-agent path planning that keeps a robot swarm collision-free around moving obstacles.

- Year: 2024
- Period: November–December 2024
- Type: hackathon
- Stack: ROS2 Humble, Gazebo, Python, NMPC

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Built for Inter IIT Tech Meet 13.0, where it placed **3rd in the problem
statement and 2nd overall**.

- A custom DBSCAN clustering algorithm for low-latency detection of dynamic
  obstacles.
- Conflict-Based Search and Non-linear Model Predictive Control fed from that
  detection, generating collision-free paths for multiple agents at once.
- Validated on multi-bot ROS2 Humble and Gazebo simulations, tuned to optimise
  task priority and total execution time.